Apparatus for controlling bus doors

ABSTRACT

An apparatus for controlling bus doors ( 14, 16 ) that are arranged as a pair of doors that move in coordinated relation between door open positions and door closed positions, enables passengers to access an interior area ( 12 ) of a bus ( 10 ). The apparatus includes an actuator ( 28, 226 ). The actuator includes a drive lever ( 34, 228 ) that is selectively rotationally movable between rotational positions in which both of the doors are in the open positions and in the closed positions. Exemplary arrangements include at least one controller ( 128 ) that is operative to prevent the doors from causing damage to or from being damaged by engagement with obstructions. The controller further enables a bus driver or other authorized user to control access to the interior area of the bus using a user mobile device ( 144 ).

TECHNICAL FIELD

Exemplary arrangements relate to an apparatus for controlling doorswhich selectively enable access to an interior area of a bus or similarvehicle.

BACKGROUND

Buses and other highway vehicles that provide transportation forsignificant numbers of persons (all of which vehicles will be referredto herein as a bus for brevity) commonly have at least one path by whichpersons may enter and leave the interior area of the bus. Some suchvehicles have a pair of rotatable doors that operate in coordinatedrelation to move between respective open and closed positions under thecontrol of a bus driver or other operator. When each of the doors in thepair is in the respective open position, passengers are enabled to enteror leave the interior area of the bus by moving along the path. Wheneach of the doors in the pair is in the closed position, the path isblocked by the doors and passengers are not able to enter or leave thebus by moving along the path.

Sometimes the bus driver or other operator is not able to see a personor an obstruction that may be in the path when the doors in the pair arein the open positions. As a result the bus driver may try to close thedoors striking the person or object. This may cause injury to the personand/or damage to the doors or the object.

The bus driver may sometimes have to leave the interior area of the busto attend to other matters. The bus driver may need to leave the doorsunlocked so that the bus driver can get back into the interior area ofthe bus when they return. If the bus driver has gone somewhere where thebus is out of the driver's sight, the driver may be concerned thatunauthorized persons may have entered the bus while the driver was away.Also in some circumstances, the bus driver may want to leave the busrunning while the driver is away. The driver may want to do this duringcold conditions so that the interior of the bus remains warm, oralternatively the bus driver may want to do this in hot conditions sothat the air conditioning continues to run and the interior area of thebus remains cool.

Apparatus for controlling the doors of a bus or similar vehicle maybenefit from improvements.

SUMMARY

Exemplary arrangements provide an apparatus that is usable to control apair of doors that control passenger access through a path that may beused for entering or leaving a bus or similar vehicle. In exemplaryarrangements an actuator is in operative connection with the pair ofdoors and enables a bus driver or other operator within the vehicle toselectively cause the doors to move in coordinated relation between doorclosed positions in which the path is blocked, and door open positionsin which the path is open.

Exemplary arrangements may provide for the doors to automaticallyreverse direction in situations where a door that is moving between theopen position and the closed position encounters an object. Inalternative arrangements, a door moving between the closed position andthe open position may reverse direction when an object is encountered inmoving toward the open position. In this way the risk of injury topersons or damage to the doors or other objects may be minimized.

In other exemplary arrangements a bus driver or other operator is ableto control the doors from outside the vehicle through wirelesscommunication using a driver's mobile device. In some arrangements thebus driver is enabled to secure the doors in the closed position fromoutside the bus when the driver has left the interior area the bus. Thedriver can also open the doors using the mobile device upon the returnof the driver to be in proximity of the bus and/or in othercircumstances. In some exemplary arrangements the bus driver who is awayfrom the bus is able to monitor certain conditions and persons inproximity to the bus using the mobile device. Numerous other featuresand capabilities may be provided in exemplary arrangements.

BRIEF DESCRIPTION OF DRAWINGS

FIG. 1 is a side view of an exemplary multi passenger highway transportvehicle such as a bus, which includes a pair of doors that controlpassenger access to and from an interior area of the vehicle through apath, each of the doors being shown in the door closed position.

FIG. 2 is a view of the bus similar to FIG. 1 , but with each of thedoors shown in the door open position.

FIG. 3 is a back top left perspective view of an exemplary dooractuator.

FIG. 4 is a back top right perspective view of the door actuator.

FIG. 5 is a back bottom left perspective view of the door actuator.

FIG. 6 is a back bottom right perspective view of the door actuator.

FIG. 7 is a top view of the door actuator.

FIG. 8 is a bottom view of the door actuator showing different positionsof the manually movable lever which can be used to manually operativelydisengage the drive of the actuator from the doors.

FIG. 9 is a schematic view of control circuitry associated with theexemplary door control apparatus.

FIG. 10 is a schematic view showing an exemplary bus with a plurality ofcameras or other image capture devices.

FIG. 11 is a back top left perspective view showing the exemplaryactuator in operative connection with a pair of doors, each of the doorsbeing in the door closed position.

FIG. 12 is a back view of the exemplary actuator and the upper portionsof the doors in the door closed positions.

FIG. 13 is a back top left perspective view showing the actuator and theupper portions of the doors in the closed positions.

FIG. 14 is a back top right perspective view showing the actuator andthe upper portions of the doors in the closed positions.

FIG. 15 is a top view of the actuator and the doors in partially openpositions.

FIG. 16 is a back top right perspective view of the actuator and thedoors in the partially open positions.

FIG. 17 is a back top right perspective view showing the actuator andupper portions of the doors in the partially open positions.

FIG. 18 is a back top left perspective view showing the actuator andupper portions of the doors in the partially open positions.

FIG. 19 is a top view of the actuator and the doors in the door openpositions.

FIG. 20 is a back top left perspective view of the actuator and thedoors in the door open positions.

FIG. 21 is a back top right perspective view of the actuator and thedoors in the door open positions.

FIG. 22 is a back top right perspective view of the actuator and theupper portions of the doors in the door open positions.

FIG. 23 is a back top left perspective view of the actuator and theupper portions of the doors in the door open positions.

FIGS. 24-28 are schematic representations of control logic carried outby an exemplary controller that controls operation of the actuator whichmoves the doors between the open positions and the closed positions.

FIG. 29 is a back bottom left perspective view of an alternativeactuator that may be utilized for controlling a pair of doors thatcontrol access to an interior area of a bus or similar vehicle.

FIG. 30 is a back view of the alternative actuator shown in FIG. 29 .

FIG. 31 is a sectional view taken along line 31-31 in FIG. 30 .

FIG. 32 is a back top left perspective view of the alternative actuator.

DETAILED DESCRIPTION

Referring now to the drawings and particularly to FIG. 1 , there isshown therein an exemplary highway vehicle that provides transportationfor a plurality of persons in the form of a bus 10. The exemplary bus 10includes an interior area 12 that is configured to house a bus driverand a plurality of passengers. Access to the interior area of the bus iscontrolled by a pair of substantially planar doors 14, 16. When usedherein substantially planar means that a majority of a surface of astructure extends in a common plane. The pair of doors 14, 16 arerotatably movable from the closed positions of the doors shown in FIG. 1to the open positions of the doors that is shown in FIG. 2 .

In the exemplary arrangement the interior area 12 of the bus 10 isaccessed by passengers who move along a path 18 from an exterior area 20of the bus into the interior area 12. In the exemplary arrangement thepath 18 includes an entry area 22 which is proximate to the spaceoccupied by the doors 14, 16 in the closed positions. The exemplary path18 includes a pair of steps 24, 26. In the exemplary arrangementpassengers travel along the path 18 up the steps 24, 26 to reach seatslocated in the interior area 12 of the bus. Likewise, when passengersexit the bus they travel down the steps 24, 26 to exit from the interiorarea 12. As shown in FIG. 2 with the doors 14, 16 in the open positions,the doors extend substantially parallel to one another and bound theopposed sides of the open path 18 along which passengers travel whenentering and exiting the bus. As used herein when it is stated that thedoors extend substantially parallel to one another it means that thesubstantially planar surfaces of the doors that bound the interior areaof the bus in the door closed positions, extend parallel to each otherplus or minus 20°.

In the exemplary arrangement shown, the bus includes only one pair ofdoors that are commonly used by passengers to enter and leave theinterior area of the bus under normal circumstances. It should beappreciated that the bus may include other doors such as emergency exitdoors and hatches that may be used in unusual circumstances. It shouldbe understood that in other arrangements a bus may include additionalpathways and doors that can be used by passengers to enter and exit thebus. This may include pairs of doors that are located at locations suchas at the midsection of the bus and/or at the rear of the bus. Otherexemplary arrangements may include doors on other transverse sides ofthe bus or in other locations. In the exemplary arrangement, the openand closed positions of the doors are controlled by a bus driver orother operator located in the interior area of the bus. The bus drivermay control the condition of the doors by manual actuation of one ormore manually actuatable switches in a manner like that hereinafterdescribed. Of course it should be understood that these approaches areexemplary and in other arrangements other approaches may be used.

In some exemplary arrangements the doors 14, 16 are moved in coordinatedrelation between the open positions and the closed positions by anactuator. An exemplary actuator 28 is shown in FIGS. 3-8 . Exemplaryactuator 28 is configured to be mounted within the interior area 12 ofthe bus above the pair of doors 14, 16 in a manner like that laterdiscussed. The exemplary actuator 28 includes a body 30. The body 30 isconfigured to be attached in fixed relation to a header or otherstructural member within the bus by fasteners that extend throughapertures 32. The actuator 28 further includes a drive lever 34. Thedrive lever 34 is rotatably movably mounted in operative supportedconnection with the body 30 and is rotatable about an axis 36. The drivelever 34 is in fixed operative connection with a shaft 38. The shaftextends through a pair of outward extending ears 40 that are inoperative connection with the body. A respective bushing 42 is mountedin operative connection with each ear. The shaft 38 is rotationallymovable in each bushing 42.

The exemplary shaft 38 is in fixed operative connection with a ring gear44. The shaft 38 is also in fixed operative connection with an upper cam46 and a lower cam 48. As later discussed the upper cam 46 and the lowercam 48 are usable in the exemplary arrangement to determine when thedrive lever 34 is in at least a first rotational position whichcorresponds to both of the doors 14, 16 being in the open positions, andwhen the drive lever is in a second rotational position whichcorresponds to both of the doors 14, 16 being in the closed positions.In other arrangements the cams may be configured to indicate positionsintermediate of the door open and door closed positions. In theexemplary arrangement the shaft 38 is engaged with a ring 50 which isoperative to hold the shaft in the operative axial position. A nut 52 isused to hold the drive lever 34 in engagement with the shaft 38. Alocking collar 54 is used to assure that the drive lever is secured infixed operative rotational connection with the shaft 36. Of course itshould be understood that this configuration is exemplary and in otherarrangements other approaches may be used.

The exemplary actuator 28 further includes a slide 56. The exemplaryslide 56 is movably mounted in operative connection with the body 30.The exemplary slide 56 includes a plurality of slotted openings 58. Aplurality of guide pins 60 that are in fixed attached connection withthe body 30, extend through respective slotted openings 58. Theexemplary guide pins 60 each include a stem portion which extendsthrough the slotted openings 58 and terminate outwardly in an enlargedhead. This configuration enables the slide 56 to move relative to thebody 30 in guided relation on the guide pins 60. Of course it should beunderstood that this configuration for engagement of the slide and thebody is exemplary and in other arrangements other approaches may beused.

The exemplary body 30 further has in operatively fixed connectiontherewith a clevis bracket 62. The exemplary clevis bracket includes apair of parallel disposed arms 64. A handle shaft 66 extends between thearms 64. A manually movable handle 68 is rotatably movable about theaxis of the handle shaft 66. The exemplary handle includes a pair ofdisposed legs 70. Each of the legs 70 includes an opening through whichthe handle shaft 66 extends. Each of the legs 70 further includes aprojecting portion 72. Each projecting portion 72 extends from therespective leg toward the slide 56. Each projecting portion 72 includesan opening therein through which a pin 74 extends.

The pin 74 is engaged on each transverse side with a respective slidelink 76. Each slide link is rotatably engaged with a respective anchorpin 78. Each anchor pin 78 operatively connects a respective slide link76 and a respective side wall 80 of the slide 56. In the exemplaryarrangement this configuration enables rotational movement of the handleto cause movement of the slide in a manner like that later discussed.

In the exemplary arrangement the slide 56 has in operative attachedconnection therewith, a motor 82. In the exemplary arrangement shown inFIGS. 3-8 the exemplary motor is an electric motor. However it should beunderstood that in other arrangements other types of motors such aspneumatic motors, hydraulic motors and other types of motors that canprovide controlled movement may be used. In the exemplary arrangementthe motor 82 is operative to selectively rotate a pinion gear 84. Thepinion gear 84 is configured to operatively engage the ring gear 44 andto cause rotation of the ring gear and the drive lever 34 attachedthereto when the gears are in operatively engaged relation such as isshown in FIG. 7 .

In the exemplary arrangement the slide 56 further includes a removablecover 86. The removable cover 86 is configured to enable a service userto gain access to the area located between the slide wall sides 80including the motor positioned therein. The exemplary slide 56 furtherincludes an upper cam switch 88. The upper cam switch in the exemplaryarrangement is an electrical switch that is in attached connection withthe upper wall side 80. The upper cam switch 88 is operative to detectthe rotational position of the upper cam 46 and the drive lever. A lowercam switch 90 is in attached connection with the lower slide wall side80. The lower cam switch is in operative connection with the lower cam48. The exemplary slide 56 further has in attached connection with theupper slide wall side 80, an electrical enclosure 92. The electricalenclosure 92 may include a controller of the type later discussed indetail or other circuitry that is associated with the operation of theactuator 28.

As represented in FIG. 8 manual movement of the handle 68 (which isalternatively referred to herein as a lever) is operative to enable theuser to move the slide 56 between a first slide position in which themotor 82 is in operative engagement with the drive lever 34 and thedoors that are in operative connection therewith, and a second slideposition in which the motor is operatively disengaged from the drivelever and the doors. As represented by the position of the pinion gear84 to the right as shown in phantom in FIG. 8 , when the handle 68 is inthe furthest clockwise position shown, slide 56 is in a first slideposition in which the pinion gear 84 is in operatively engaged meshingrelation with the ring gear 44. In this engagement position, operationof the motor 82 causes rotation of the pinion gear 84, the ring gear 44and the drive lever 34.

Movement of the handle 68 to the furthest counterclockwise positionshown in FIG. 8 causes the slide links 76 to move the slide 56 to theleft as shown. Such movement of the slide relative to the body 30 isoperative to cause the pinion gear 84 to move along the direction ofArrow A to the position shown to the left in FIG. 8 . In this secondslide position the pinion gear 84 is operatively disengaged from thering gear 44 and the drive lever 34 (and the doors 14, 16). In thisdisengagement position the drive lever 34 and the doors that areattached thereto, are manually movable between the door open positionsand the door closed positions without resistance from the drive. As aresult in the disengagement position the doors 14, 16 are enabled to bemanually opened and closed even in circumstances where the actuator orother electrical circuitry associated with the system is inoperative. Asa result the exemplary arrangement enables a driver or passenger of thebus to manually open or close the doors in the event of a malfunction orother problem after movement of the lever 68. Of course it should beunderstood that this arrangement is exemplary and other arrangementsother structures and mechanisms may be utilized for operativelyconnecting and disconnecting a motor and the doors. However it should beunderstood that in some other arrangements no feature which providesthis capability may be included in the actuator that is utilized to openand close the doors.

FIGS. 11-23 show the exemplary pair of doors 14, 16 in greater detailand the manner of movement thereof by the exemplary actuator 28. FIGS.11-13 show the doors 14, 16 in the respective door closed positions. Inthe door closed positions the doors 14, 16 extend across the entry area22 and block the passage of individuals along the path 18. In theexemplary door closed positions the doors 14 and 16 are substantiallylinearly aligned. For purposes hereof, substantially linearly alignedmeans that a single straight line may extend within the respective bodyof the majority of each of the doors 14, 16 along their transversewidth. As can be appreciated in some exemplary arrangements the doorsmay be configured so as to block the path sufficiently to preventingress and egress of individuals therethrough without the entirety ofthe doors extending along a single straight line.

In the exemplary arrangement door 14 is rotatably movably mounted to thebody of the bus about a vertical door axis 94. Door 14 is rotatableabout the vertical door axis 94 which extends adjacent to the left sideof the door 14 as shown. Door 16 is similarly rotatable about a verticaldoor axis 96. As can be appreciated axis 96 is horizontally disposed onthe opposite side of the entry area 22 and the path 18 from axis 94.Exemplary door 14 includes a vertically extending side 98. Side 98extends on the door opposite of axis 94. In the exemplary arrangementside 98 comprises an elongated resilient engaging seal 100 (See FIG. 15) to facilitate relatively airtight engagement with door 16 when thedoors are in the door closed positions. The exemplary door 16 furtherincludes a pair of vertically elongated transparent windows 102. Thewindows facilitate the bus driver's ability to view persons outside thedoor adjacent to the entry area. Exemplary door 16 likewise includes aside 104 that is transversely opposite vertical door axis 96. Side 104includes a vertically elongated resilient seal 106 that is configured toresiliently engage seal 100 on door 14 when the doors are in the doorclosed positions. Door 16 also includes transparent windows 108 tofacilitate viewing by the driver of the exterior area 20 and the entryarea 22. Of course it should be understood that these doorconfigurations are exemplary and in other arrangements other approachesmay be used.

As shown in FIG. 12 , in the door closed positions of doors 14 and 16the drive lever 34 is in a fixed rotational position. Drive lever 34 isin operative connection with a drive link 110. Drive lever 34 is inoperative connection with the drive link 110 through a rotatable linkend 112. In exemplary arrangements link end 112 may include a rotatablepost or bushing that enables drive link 110 to be in operativeconnection with the drive lever 34 in a manner that enables the link endto rotate relative to the drive lever 34 without binding. Further inexemplary arrangements the link end 112 may include a lockable threadedportion 114 which threadably engages the body of the drive link 110. Inexemplary arrangements the lockable threaded portion 114 enablesadjustment of the distance that the link end 112 extends outward fromthe body of the drive link 110. In some exemplary arrangements thisfeature may facilitate adjusting the effective length of the drive linkto suit the movement of the doors between the open and closed positions.Of course, this arrangement is exemplary and in other arrangements otheradjustment approaches may be used.

Drive link 110 has a link end 116 at the end opposite link end 112. Linkend 116 also has a lockable threaded portion 118 adjacent thereto toprovide adjustment of the effective length of the drive link 110. Linkend 116 is in operative rotatable connection with a connecting post 120that extends upwardly from a bracket 122 which is attached to door 14.As shown in FIG. 12 bracket 122 is attached to door 14 above the upperwindow 102. Connecting post 120 is inwardly disposed on door 14 from thevertical door axis 94 thereof. As a result, movement of drive link 110by the drive lever 34 is operative to cause movement of bracket 122 in amanner that causes door 14 to rotate about axis 94.

Bracket 122 is further in rotatable connection with a connecting rod124. Connecting rod 124 is rotatably engaged with bracket 122 and isrotatable in an opening that extends therein. A bracket 126 is inattached operative connection with door 16 above the upper window 102therein. Connecting rod 124 is in operative connection with bracket 126and extends in rotatable relation in an opening therein. As can beappreciated, the upward extending ends of connecting rod 124 includesuitable pins, projections or other suitable fasteners to maintain theupward extending ends in rotatably movable position within the openingsof the respective brackets 122, 126.

As can be appreciated when the drive lever 34 is in the rotatableposition corresponding to the door closed positions of doors 14 and 16,the connection of the doors through the connecting rod 124 and drivelink 110 to the actuator 28 prevents movement of the doors. This isbecause (provided slide 56 is in the engagement position) the motor 82,the pinion gear 84 and the ring gear 44 operate to resist any unwantedmovement of the drive lever 34. Further in the exemplary arrangementwith the doors in the closed positions the configuration of the uppercam 46 causes the upper cam switch 88 to detect that the drive lever isin a rotational position which corresponds to the door closed positions.

Movement of the drive lever 34 from the rotational positioncorresponding to the closed position of the doors in a rotationaldirection which is clockwise when viewed from the top of the actuator28, causes the drive link 110 to move toward door 16. As shown in FIG.15 such movement of the drive link 110 causes movement of the bracket122 that is attached to door 14 which causes door 14 to rotate aboutaxis 96 in a counterclockwise direction when viewed from above. Themovement of bracket 122 causes the connecting rod 124 to moverotationally outward and to pull bracket 126 closer to door 14. Thiscauses door 16 to rotate in a clockwise direction about axis 98 whenviewed from the top. As a result the doors 14 and 16 begin to rotateabout the respective axes to a partially open position as represented inFIGS. 15-18 . As can be appreciated the rotation of the drive lever 34causes the doors to move in coordinated relation together from the doorclosed positions toward the door open positions.

Further movement of the drive lever 34 in the clockwise rotationaldirection when viewed from above the actuator 28, causes the doors 14,16 to move to the fully open positions shown in FIGS. 19-23 . In thisposition the drive link causes bracket 122 to rotate so that door 14extends perpendicular to the direction the door 14 extends when in thedoor closed position. Connecting rod 124 causes bracket 126 and door 16to be moved to a position in which the door 16 likewise extendsperpendicular to the door 16 in the closed position. Likewise in thisposition doors 16 and 14 extend substantially parallel to one another.In this position the doors are disposed sufficiently horizontally fromone another so that persons entering and leaving the bus can passbetween the doors along the open path 18. Further in the exemplaryarrangement with the doors in the door open positions, the lower camswitch 90 is operative to detect the contoured surface of the lower cam48 to provide an indication that the drive lever is in a rotationalposition that corresponds to the fully open position of the doors.

As can be appreciated, from the door open positions shown in FIGS. 19-23, the doors 14, 16 may be returned to the door closed positions byoperating the motor 82 to cause the drive lever 34 to rotate in anopposed rotational direction from that in which the drive lever rotatesto open the doors. Thus doors 14 and 16 are caused to be moved togetherin coordinated relation between the respective door closed positions anddoor open positions responsive to the actuator. However it should beunderstood that the actuator and the linkages used for connecting theactuator and the doors is exemplary and in other arrangements otherapproaches may be used.

In the exemplary arrangement the actuator 28 is in operative connectionwith at least one controller 128. The at least one controller which isshown schematically in FIG. 9 includes one or more circuits which areoperative to communicate electrical signals which can control theoperation of the motor 82 and other devices which are in operativeconnection therewith. In the exemplary arrangement the at least onecontroller 128 includes at least one circuit including a processorschematically indicated 130 and at least one data store schematicallyindicated 132. In exemplary arrangements the processor may include aprocessor suitable for carrying out circuit executable instructions thatare stored in the one or more associated data stores. The processorincludes or is in connection with a nonvolatile storage medium includingnon-transitory circuit executable instructions that may include a basicinput/output system (BIOS). For example, the processor may correspond toone or more or a combination of a CPU, FPGA, ASIC or other integratedcircuit or other type of circuit that is capable of processing data andinstructions. The data stores may correspond to one or more of volatileor nonvolatile memories such as random access memory, flash memory,magnetic memory, optical memory, solid-state memory or other devicesthat are operative to store circuit executable instructions and data.Processor executable instructions may include instructions in any of aplurality of programming languages and formats including, withoutlimitation, routines, subroutines, programs, threads of execution,objects, scripts, methodologies and functions which carry out theactions such as those described herein. Structures for processors mayinclude, correspond to and/or utilize the principles described in thetextbook entitled Microprocessor Architecture, Programming andApplications with the 8085 by Ramesh S. Gaonker (Prentice Hall 2002)which is incorporated herein by reference in its entirety.

The exemplary data stores used in connection with exemplary arrangementsmay include any one or more of several types of mediums for holdingcircuit executable instructions and/or data. These may include, forexample, magnetic media, optical media, solid-state media or other typesof media such as RAM, ROM, PROMs, flash memory computer hard drives orany other form of media suitable for holding data and circuit executableinstructions. Exemplary controllers may further include other componentssuch as hardware and/or software interfaces for communication with thedevices and systems in which they are connected.

In the exemplary arrangement the at least one controller 120 is inoperative connection with at least one sensor 134. In the exemplaryarrangement the at least one sensor is in operative connection with thedrive lever 34 and is operative to sense data that is usable todetermine the rotational position of the drive lever. In an exemplaryarrangement the at least one sensor 134 may correspond to the upper camswitch 88 and upper cam 46 and the lower cam switch 90 and the lower cam48. In other exemplary arrangements the at least one sensor 134 mayinclude a potentiometer, an optical encoder, a Hall Effect sensor, andinductance sensor, a magnetic sensor or other suitable sensor fordetecting features or properties usable to determine a rotationalposition of the drive lever.

In the exemplary arrangement the controller 128 is in operativeconnection with an audible annunciator 136. The audible annunciator 136is selectively operative responsive to signals from the controller toprovide an audible signal. Such an audible signal may be usable toprovide a warning or other indication in a manner like that hereafterdiscussed. The exemplary controller 128 is further in operativeconnection with a visual indicator 138. The exemplary visual indicator138 is operative to provide a visual indication of the conditiondetected by the controller that may be indicative of a problem orpotential problem associated with the operation of the doors or othercomponents of the system.

At least one manually actuatable switch 140 is also in operativeconnection with the controller 128. In the exemplary arrangement the atleast one manually actuatable switch 140 is located in the interior areaof the bus. Manual actuation of the switch 140 by the bus driver orother authorized operator is used in the exemplary arrangement to causethe actuator to operate to rotate the drive lever to move the doorsbetween the door open and door closed positions.

In the exemplary arrangement the controller 128 is in operativeconnection with a wireless portal 142. The exemplary wireless portal 142comprises a transceiver that is operative to enable wirelesscommunication between the controller 128 and at least one user mobiledevice 144. The wireless communication portal may include a suitablechipset or other suitable circuitry. The exemplary user mobile devicemay be operated by an authorized user such as the bus driver, to monitorinformation about the bus and to control certain aspects of the bus whenthe bus driver is outside the bus. In an exemplary arrangement the usermobile device includes a processor circuit of the type previouslydiscussed and at least one data store which is usable to hold circuitexecutable instructions. The exemplary mobile device further includesinput and output devices such as a touchscreen interface, input devicessuch as a camera, buttons and/or microphone and output devices such as aspeaker and a display. Of course these input and output devices areexemplary and other arrangements other devices may be used. Theexemplary user mobile device further includes a wireless communicationchipset or other wireless communication circuitry that enables the usermobile device to communicate with the controller 128 through thewireless communication portal 142. In some exemplary arrangements theuser mobile device may include a dedicated device for use in connectionwith the controller 128 and the bus with which the controller isassociated. In other exemplary arrangements the user mobile device mayinclude a smart phone, tablet or other computer device operated by theuser that includes circuit executable instructions for performing thecapabilities described herein.

The exemplary system further includes a motion sensor 146. In theexemplary arrangement the motion sensor 146 is operative to determine ifthe bus is currently in motion. The exemplary system further includes acontamination sensor 148. In the exemplary arrangement the contaminationsensor 148 includes at least one of a smoke sensor, carbon monoxidesensor or carbon dioxide sensor or other sensor that is operative todetect a dangerous level of a contaminant within the interior area ofthe bus.

Further in the exemplary arrangement the controller 128 is in operativeconnection with a camera interface 150. The exemplary camera interfaceis in operative connection with a plurality of cameras that areoperative to capture images within the interior area of the bus or inproximity thereto. For example, in an exemplary arrangement at least oneexternal area camera has a field of view that includes a portion of theexterior area 20 of the bus. As schematically represented in FIG. 10exterior area cameras 152 may have a field of view that includes areasadjacent to a front and a rear of the bus as well as along the sides ofthe bus. Other exterior area cameras 152 may have a field of view thatincludes other external areas such as underneath the bus or otherlocations where passengers or unauthorized individuals may be located.

The exemplary system further includes at least one entry area camera154. The at least one entry area camera 154 includes a field of view ofthe entry area 22 adjacent to the doors 14 and 16. In exemplaryarrangements entry area cameras 154 may be located to have a field ofview either externally of the bus in the entry area or in the businterior area in the entry area adjacent to the doors, or in bothlocations.

Further the exemplary system further includes at least one interior areacamera 156. The at least one interior area camera 156 has a field ofview that includes the interior area 12 of the bus. In some exemplaryarrangements at least some of the cameras may provide night vision imagecapture capabilities and/or image element temperature detection. Suchcameras may be capable of detecting the presence of persons, animals orother objects in darkness or near darkness conditions. Of course itshould be understood that these cameras are exemplary and in otherarrangements other or additional cameras may be used. Likewise it shouldbe understood that the devices that are shown in operative connectionwith the at least one controller 128 are merely examples of the types ofdevices that may be included in such a system. Other devices may beincluded in alternative systems for purposes of detecting conditions andfor providing information that may be useful to the driver or in theoperation of the bus.

FIGS. 24-28 schematically describe the logic flow carried out by the atleast one controller 128 in opening and closing the doors 14, 16. In theexemplary arrangement the at least one data store 132 includes datacorresponding to a threshold closing speed. The threshold closing speedcorresponds to an acceptable speed at which the drive lever rotates whenmoving the doors between the door open positions and the door closedpositions. In the exemplary arrangement the at least one data store 132further includes data corresponding to a threshold opening speed. Thethreshold opening speed corresponds to an acceptable speed at which thedrive lever rotates when moving the doors between the door closedpositions in the door open positions. In some exemplary arrangementsboth the threshold closing speed and the threshold opening speed may bea common value.

In the exemplary arrangement with the doors in the door open positionsthe at least one controller 128 waits to receive a signal from the atleast one manually actuatable switch 140 indicating that the driver ofthe bus or other operator wishes to close the doors. This wait state isreflected in FIG. 24 by a step 158. Step 160 represents receipt by theat least one controller of the signal from the at least one manuallyactuatable switch 140 corresponding to an input to move the doors to theclosed positions. Responsive at least in part to receipt of the doorclose signal, the at least one controller 128 operates to cause themotor 82 of the actuator 28 to run so that the drive lever 34 moves in arotational direction which causes the doors to move towards the closedpositions. This is represented by a step 162.

The at least one controller then operates to continue to cause the motorto rotate the drive lever while sensing for a signal from the at leastone lever position sensor 134 which indicates that the doors are in thedoor closed positions. This is represented by a step 164. If the drivelever reaches the rotational position corresponding to the doors beingclosed as determined in step 164, the controller operates to cause themotor 82 to stop operation. This is represented by a step 166.

If in step 164 the controller determines that the drive lever is not ina rotational position that corresponds to the doors being closed, thecontroller then operates to calculate a speed of the drive lever in itscurrent rotational position. This is represented by a step 168. In theexemplary arrangement the controller then operates to calculate aclosing speed value of the drive lever. This is represented by a step170. In the exemplary arrangement the closing speed value is calculatedas a function of the detected speed of the drive lever in each of aplurality of angularly disposed positions. In the example arrangementthe closing speed value is calculated as an average of the most recentdetected closing speed at the current rotational position of the drivelever, and a plurality of prior closing speeds calculated in previousrotational positions of the drive lever. This is done in the exemplaryarrangement to calculate a closing speed that accurately represents theclosing speed of the drive lever. Otherwise, in some arrangements if theclosing speed calculation is based on speed detected at a singlerotational position, such speed could be a speed value which isinstantaneously or erroneously detected, and that is not representativeof the actual closing speed. For example, if wear or other factors inthe linkage which connects the drive lever to the doors causes aninstantaneous slowing in rotational movement of the drive lever, thiscould be erroneously identified as the doors encountering anobstruction. Of course it should be understood that in otherarrangements the approach of using an averaging process for purposes ofdetermining the current closing speed may not be utilized. Likewise inother exemplary arrangements sensors may be utilized which detect thepositions and speeds of components other than the drive lever forpurposes of calculating the current closing speed.

As represented in a step 172 the exemplary controller operates todetermine if the calculated closing speed is at or below the storedclosing speed threshold value stored in the at least one data store. Ifthe calculated closing speed value is not at or below the storedthreshold, the controller continues to run the motor of the actuator tocause the drive lever to move the doors toward the door closedpositions. However if in step 172 the calculated current closing speedin the rotational direction has fallen to a level at or below the storedthreshold value, this indicates that at least one of the doors hasencountered an obstruction, such as a person or an object. Responsive tomaking this determination, the controller is operative in a step 174 toprovide an indication of the condition. For example in exemplaryarrangements the controller may operate to cause the audible annunciator136 and/or the visual indicator 138 to output an audible and/or visualsignal to indicate that the door has encountered an obstruction. Ofcourse it should be understood that in other arrangements the controllermay operate to determine that the closing speed is above a threshold orwithin certain limits.

As represented in a step 176 the exemplary controller is furtheroperative responsive to the determination that the current closing speedof the drive lever is at or below the threshold closing speed, to causethe motor 82 to operate in an opposed rotational direction from that inwhich the motor operates to cause the doors to move toward the closedpositions. The exemplary controller operates to cause the motor tooperate to cease moving the doors toward the closed positions and tobegin movement of the doors toward the open positions. This causes thedoors to move away from the encountered obstruction. Thus for example ifthe doors have encountered the body of a passenger, the doors quicklydisengage from the passenger. Of course it should be understood thatthis approach is exemplary and in other arrangements the controller maysimply stop moving the doors towards the door closed positions, ratherthan cause the motor to reverse direction.

After the controller has caused the doors to reverse direction in thestep 176, the exemplary controller then operates to determine if thedoors have returned to the door open positions. This is done based onthe rotational position of the drive lever as detected by the at leastone sensor 134. If as represented by step 178, the at least one sensor134 does not detect the drive lever in a rotational positioncorresponding to the door open positions, the controller continues tooperate the motor 82 to move the doors toward the open positions. Oncethe at least one sensor 134 detects that the drive lever is in arotational position corresponding to the doors being open, the at leastone controller 128 operates to cause the motor 82 to stop operation.This is represented in a step 180. In the exemplary arrangement from thestep 180, the bus driver can then take appropriate action to be surethat the entry area 22 is clear of obstructions, and then may againprovide an input to the at least one manually actuatable switch 140 tocause the controller to move the doors toward the closed positions. Ofcourse it should be understood that this approach is exemplary and inother arrangements other approaches may be used.

If the drive lever is rotated to a position in which the doors are inthe closed positions, the exemplary at least one controller 128 operatesto wait for an input to the at least one manually actuatable switch 140indicating that the bus driver or other operator wishes to move thedoors from the door closed positions to the door open positions. This isrepresented by a step 182. The at least one controller receives at leastone signal from the at least one switch 140 indicating that the busdriver or other operator wishes to cause the doors to be opened. This isrepresented by a step 184. Responsive to receipt of the at least onesignal indicating that the bus driver requests that the doors be opened,the at least one controller operates in accordance with its programmingto operate the motor 82 to rotate the drive lever from the currentrotational position in which the doors are held in the closed positions,toward a rotational position in which the doors are in the door openpositions. This is represented by step 186

The at least one controller 128 then operates the motor 82 to move thedoors toward the open positions while sensing for signals from the atleast one sensor 134 which indicate the rotational positions of thedrive lever, and the doors connected thereto. If in a step 188 the atleast one controller determines that the drive lever has moved to arotational position in which the doors are in the door open positions,the controller operates to cause the motor to stop operation. This isrepresented by step 190. In this situation both doors are in the openpositions, and the at least one controller waits to receive at least onesignal from the manually actuatable switch 140 indicating that the busdriver wishes to return the doors to the door closed positions.

If however in step 188 the doors are determined not to have reached thedoor open positions, the at least one controller is operative responsiveat least in part to signals from the at least one sensor 134 tocalculate the opening speed of the drive lever in its current angularposition. This is represented by step 192. The exemplary controller thenoperates in accordance with its programed instructions to calculate acurrent opening speed as represented in step 194. In the exemplaryarrangement the controller is operative to calculate the current openingspeed as a function of the speed of the drive lever in each of aplurality of angular positions. In exemplary arrangements the currentopening speed is calculated as an average of a plurality of the currentdrive lever velocity and the velocities at a number of prior rotationalpositions of the drive lever. This is done in a manner similar to thecalculation of the current closing speed previously discussed. Thisapproach is used in an exemplary arrangement to avoid adverse effects oftransient conditions or erroneous signals which may not accuratelyrepresent the opening speed of the drive lever. Of course in otherarrangements other approaches may be used.

As represented in a step 196 the exemplary at least one controller isoperative to compare the calculated current opening speed and the storedthreshold opening speed value stored in the at least one data store 132.The at least one controller is operative to make a determination if thecurrent opening speed value is at or below the stored threshold openingspeed. If the current opening speed is not at or below the thresholdopening speed value, the at least one controller continues to cause themotor to operate to move the drive lever in the rotational directionwhich causes the doors to move toward the open positions. In otherarrangements the circuitry may operate to determine that the openingspeed is above a threshold or between certain limits.

In the exemplary arrangement if the current opening speed is at or belowthe threshold opening speed, the condition is indicative that at leastone door has encountered an obstruction in moving between the doorclosed position and the door open position. Responsive to thisdetermination at least one controller is operative to provide at leastone output indicative of the condition. Such an output may be providedthrough the audible annunciator 136, the visual indicator 138, or both.The giving of such an indication is represented by a step 198. The atleast one controller further operates responsive at least in part to thedetermination to cause the motor to cease causing the drive lever tomove the doors toward the open positions. In the exemplary arrangement,the controller operates to cause the motor to reverse direction andcause the drive lever to move in a rotational direction which causes thedoors to move back toward the closed positions. This is represented bystep 200.

The exemplary at least one controller 128 operates the motor 82 to movethe drive lever 34 in a rotational direction which causes the doors tomove toward the door closed positions. The at least one controller thenoperates to monitor for signals from the at least one sensor 134 whichwould indicate that the drive lever has moved to a rotational positioncorresponding to both of the doors being closed. As represented by astep 202, if the signals from the at least one sensor 134 do notcorrespond to the doors being in the closed positions, the controllercontinues to operate the motor to cause the doors to move toward theclosed positions. However if in step 202 the at least one controllerdetermines that the rotational position of the drive lever correspondsto the doors being closed, the controller operates to cause the motor tocease operation with the doors in the door closed positions. This isrepresented by step 204. In the exemplary arrangement the controlleroperates to wait with the doors in the door closed positions for furthersignals from the bus driver or other operator to again open the doorsafter the bus driver has cleared the obstruction that prevented thedoors from opening. Of course it should be understood that this logicflow and associated approaches are exemplary and in other arrangementsother approaches may be used.

FIG. 28 discloses a schematic representation of an exemplary manner inwhich at least one controller may operate to determine the currentclosing speed value which is used for comparison with the storedthreshold closing speed value for purposes of determining if one of thedoors has encountered an obstruction. Of course it should be understoodthat similar logic may be utilized in connection with the calculation ofthe current opening speed value. It should further be understood thatthis logic flow is exemplary and in other arrangements other approachesto the calculation of the speed of the doors may be utilized forpurposes of determining the presence of an obstruction.

In the exemplary arrangement the controller is operative to receive atleast one signal from at least one sensor which is indicative of arotational position of the drive lever. This is represented by step 206.In some exemplary arrangements the position signal may correspond to avoltage reading from a potentiometer, a signal from an encoder, a countsignal from a position indicator, a value which indicates the positionof a surface of the cam, or other suitable sensor signal from a sensorsuch as the at least one position sensor 134 of the types previouslydescribed. In the exemplary arrangement the circuitry associated withthe controller is operative to convert an analog signal received fromthe at least one sensor to a digital signal. This is represented by step208. Of course it should be understood that for some types of sensorsthe step of converting the signal from an analog signal to a digitalsignal may not be necessary.

In a step 210 the at least one controller is operative to calculate thevelocity at the current rotational position of the drive lever. In theexemplary arrangement the velocity is calculated based on the differencein displacement of the drive lever at the current position at which thecurrent reading is made, to the immediately preceding reading, dividedby the difference in time between the readings. In exemplaryarrangements the calculation is made for different readings during avery short time period. The controller next operates as indicated bystep 212 to store the most recently calculated velocity value in the atleast one data store 132.

In the exemplary arrangement the at least one controller 128 thenoperates to calculate the current closing speed as represented by step214. In the exemplary arrangement the current closing speed iscalculated as an average of the immediately preceding 16 instantaneousvelocity values. Of course it should be understood that this approach isexemplary and in other arrangements other calculations and includedvalues may be utilized for purposes of making a determination as to acurrent closing speed.

The at least one controller then operates as represented in a step 216in a manner similar to that previously discussed, to make adetermination if the current closing speed is at or below the thresholdclosing speed stored in the at least one data store. If the currentclosing speed is at or below the threshold it is considered indicativethat the doors have encountered an obstruction, and the at least onecontroller operates in accordance with its executable instructionsresponsive to the determination to stop moving the doors toward theclosed position and reverses the operation of the motor to move thedoors toward the open positions. This is represented by step 218. If thecurrent closing speed is calculated as above the threshold, thecontroller continues to operate the motor to move the doors toward thedoor closed positions until the at least one sensor 134 provides asignal to the controller to indicate that the doors are in the closedpositions. If the at least one controller determines that the doors arein the closed positions as represented in a step 220, the controllerthen operates to cause the motor to cease operation as represented bystep 222. However if the doors have not reached the door closedpositions, the exemplary controller operates to wait another timeincrement for the calculation of a current velocity value. This isrepresented by step 224. After waiting the time increment for thecalculation of the next velocity value, the at least one controllerrepeats the described operation to recalculate the current closing speedto make a determination if an obstruction has been encountered. Ofcourse it should be understood that this logic flow is exemplary and isprovided at a high schematic level. In other exemplary arrangementsother approaches and steps may be carried out for purposes ofdetermining if one of the doors has encountered an obstruction.

In exemplary arrangements the at least one controller may also operateto provide additional functions and capabilities in connection with theoperation of the doors or other aspects of the bus. For example in anexemplary arrangement the at least one motion sensor 146 is operative todetect motion of the bus in which the door actuator 128 is positioned.In some exemplary arrangements the motion sensor may comprise avibration or seismic sensor. Alternatively or in addition the motionsensor may be in operative connection with the transmission of thevehicle. In the exemplary arrangement the at least one controller 128 isoperative to receive signals from the at least one motion sensor 146that are usable to determine if the bus is in motion. The at least onecontroller operates to prevent the opening of the doors by the actuatorif the bus is in motion. For example the controller may operateresponsive to its circuit executable instructions to not cause the motorof the actuator to move the doors toward the open positions incircumstances where the motion sensor detects that the bus is in motion.In this way the exemplary controller operates to prevent inadvertentopening of the doors in the event that the at least one manuallyactuatable switch 140 is inadvertently or improperly operated while thebus is moving. Of course this approach is exemplary and otherarrangements other approaches may be used.

In the exemplary arrangement the controller is operative to communicatewirelessly through the wireless portal 142 with the user mobile device144. In exemplary arrangements the at least one data store 132 inoperative connection with the at least one controller includes datacorresponding to at least one authorized user access credential. Theuser access credential corresponds to at least one of an authorized useror an authorized user mobile device. In some exemplary arrangements theuser access credential may correspond to one or more codes that can beinput through at least one input device of the user mobile device. Suchcodes may include a secret code or PIN that is known only to theauthorized user. In other exemplary arrangements the access credentialmay correspond to a biometric feature which may be read throughoperation of an input device on the user mobile device. This may includefor example, a fingerprint that can be read through a fingerprint readerthat is located on the user mobile device. Alternatively or in additionthe biometric input may correspond to a facial image that may becaptured through operation of the camera on the user mobile device.Alternatively the biometric input may correspond to voice data that maybe sensed through a microphone of the mobile device. In other exemplaryarrangements the user access credential may correspond to token data orother data that is stored in at least one data store of the user mobiledevice, which uniquely identifies the user mobile device. Numerousdifferent types of user access credentials and/or combinations thereofmay be utilized in exemplary arrangements.

The exemplary data store includes data that corresponds to or otherwisehas a predetermined relationship with data corresponding to the useraccess credential that may be delivered wirelessly to the controller 128from the user mobile device. Responsive to receipt of data from the usermobile device, the at least one controller is operative to make anauthorized access determination responsive to the delivered data fromthe user mobile device having a predetermined relationship to the storeduser access credential data. Responsive at least in part to theauthorized access determination by the controller 128, the user mobiledevice is enabled to send wireless signals that are operative to causethe controller to operate certain devices of the bus. Alternatively orin addition, the user mobile device is enabled to receive communicationswhich provide information to the user through the mobile device.

For example in some exemplary arrangements once the at least onecontroller 128 is operative to make the authorized access determinationbased on data sent from the user mobile device, the user mobile devicemay be operated by the bus driver from outside of the interior area ofthe bus to cause the controller to operate the actuator. In exemplaryarrangements the user mobile device is enabled to communicate signalswith the controller which cause the actuator to rotate the drive leverto change the doors between the door open positions and the door closedpositions. As a result in exemplary arrangements the driver of the busis enabled to exit the bus and through operation of the mobile device,cause the actuator to place the doors in the door closed positions. Thisenables the bus driver to leave the bus with the interior area thereofsecured against unauthorized access. Further upon the return of the busdriver to the bus, or otherwise, the bus driver is enabled tocommunicate from the mobile device, wireless signals that cause thecontroller to operate the actuator so as to rotate the drive lever tomove the doors from the closed positions to the open positions. Ofcourse it should be understood that these approaches are exemplary, andin other arrangements other approaches may be used.

In other exemplary arrangements the at least one controller 128 may beoperative to communicate wireless signals with the user mobile devicecorresponding to images that are captured by the cameras that are inoperative connection with the controller. In exemplary arrangements thecommunication between the user mobile device and the at least onecontroller may be operative to communicate images that are in the fieldof view of the external area cameras 152. This may enable the bus driveruser to determine if persons are in proximity to the vehicle who mightbe waiting to attack the bus driver. In other exemplary arrangements,the at least one controller may communicate wireless signalscorresponding to images captured by the entry area camera or cameras154. In exemplary arrangements communication of image data concerningthe entry area cameras may be indicative of a person attempting to gainunauthorized access to the interior area of the bus. Alternatively or inaddition, such image data that is transmitted to the user mobile devicemay show images of a person who is authorized to access the bus, but hasarrived before the driver. In such circumstances the driver may wish toutilize the mobile device to send wireless signals to the controller tocause the doors to be in the open positions so that the person mayaccess the interior area of the bus.

In some exemplary arrangements the at least one controller 128 mayoperate to provide wireless signals corresponding to image data for thefield of view of the one or more interior area cameras 156. Such imagedata may be selectively viewed by the bus driver as outputs from thedisplay of the user mobile device. Such outputs may enable the driver toobserve activities in the interior area of the bus. This may include forexample, activities of persons who remain in the interior area of thebus while the driver steps away for a short time. Alternatively or inaddition, such image data may enable the bus driver to monitor theactivities of persons that were allowed to enter the bus because theywere recognized as authorized passengers before the bus driver arrivedat the bus. Alternatively or in addition the images captured by interiorarea cameras may be utilized by the bus driver to determine if personsremained on the bus after the bus ceased operation or completed itsnormal route. This may be particularly effectively achieved by usingcameras that provide night vision and/or object heat level sensingcapabilities. In other exemplary arrangements the wireless communicationof image data between the user mobile device and the at least onecontroller may be operative to help the bus driver verify thatunauthorized persons are not present in the interior area the bus whomay have gained unauthorized access and may be waiting to attack thedriver. Numerous different approaches may be utilized in exemplaryarrangements for purposes of enabling the driver or other authorizeduser of the user mobile device to monitor and control conditions at orin the bus.

Further in exemplary arrangements the at least one contamination sensor148 may be usable to monitor conditions within the interior area of thebus. For example in some exemplary arrangements the at least one datastore 132 may include data corresponding to a contamination threshold.Such a contamination threshold may correspond to a level of smoke,carbon monoxide, carbon dioxide or other contaminants that maycorrespond to an unacceptable level of the contaminant. In exemplaryarrangements the at least one controller 128 is operative to monitorsignals from the at least one contamination sensor 148 and to make acontamination determination based on the level of a contaminant reachingthe stored contamination threshold, that an unacceptable level of acontaminant has been reached. In some exemplary arrangements theinterior area of the bus may include at least one indicator which isoperative to indicate to the driver while in the operating position, orto the other occupants of the bus, that the contamination level hasreached an unacceptable level.

In some exemplary arrangements the at least one controller may operateresponsive at least in part to the contamination determination to causethe bus to no longer be operable and to cause the actuator toautomatically move the drive lever so as to open the doors. Suchautomatic opening of the doors will help to dissipate the contaminantlevel and also enable the passengers to more rapidly exit from theinterior area of the vehicle. The exemplary controller may also operatein accordance with its programming to cause the audible annunciator 136to output signals including warning signals and/or automated speechinstructions advising users to immediately exit from the bus. Of coursethese approaches are exemplary and in other embodiments other approachesmay be used.

Further in exemplary arrangements the at least one controller 128 mayoperate to send wireless signals to the user mobile device concerningcontamination determinations. Thus for example in situations where thebus driver has left the engine of the bus running to maintain the heatedcondition of the interior area and/or the cool condition of the interiorarea, the controller may operate to send wireless signals to the usermobile device indicating that a contamination determination has beenmade. In exemplary arrangements the controller may be operative toinclude in the wireless signals data which causes the mobile device tooutput an indication to the bus driver as to the nature of thecontamination determination. This may enable the bus driver to operatethe mobile device to cause the doors to open to help dissipate thecontamination. Further in alternative exemplary arrangements the atleast one controller may operate to automatically cause the doors to bemoved to the open positions in response to making the contaminationdetermination. The controller may then operate to send wireless signalsto the user mobile device to indicate the contamination determination aswell as that the doors have been opened automatically to help minimizethe potential problems associated with the excessive level of thecontaminant. Of course it should be understood that these approaches areexemplary, and an alternative arrangements other approaches may be used.

In other exemplary arrangements different sensor devices may be inoperative connection with the at least one controller 128. Such sensordevices may include devices such as temperature sensors, humiditysensors, lidar sensors, sonic sensors or other types of sensors that areusable to detect conditions, objects or persons within or in proximityto the bus. In exemplary arrangements wireless communications betweenthe at least one controller and the user mobile device to be operativeto advise the bus driver through the outputs from the user mobile deviceof conditions that the bus driver needs to be advised about while theyare away from the bus. Further in exemplary arrangements the at leastone controller may also operate to provide communications wirelesslywith at least one computer in a command center or other monitoringfacility associated with the entity responsible for operation of thebus. Such communications may be monitored at such a facility eitherautomatically or by authorized users to identify circumstances which maywarrant taking actions to preserve the health and safety of the busdriver or the passengers. As can be appreciated, numerous differentaspects of conditions at or within the bus may be monitored for purposesof detecting and identifying potential problems or anomalous conditions.Of course these approaches are exemplary and in other arrangements otherapproaches and capabilities may be provided.

FIGS. 29-32 show a further alternative exemplary arrangement of anactuator 226. The exemplary actuator 226 is similar to actuator 28previously described except as indicated hereafter. Actuator 226includes a pneumatic motor rather than the electric motor that is usedin actuator 28.

In the exemplary arrangement actuator 226 includes a drive lever 228.Drive lever 228 is rotatably movably mounted on a body 230 of theactuator in a manner similar to drive lever 34. Drive lever 228 is inoperatively fixed connection with a shaft 232. Shaft 232 is in fixedoperative connection with an upper cam 234 and a lower cam 236. Uppercam 234 is in operative connection with an upper cam switch 238. Lowercam 236 is in operative connection with a lower cam switch 240. Inexemplary arrangements the upper cam and upper cam switch, and the lowercam and lower cam switch may be operative to detect and indicate therotational position of the drive lever 228 in a manner like thatpreviously described.

Actuator 226 further includes a pneumatic motor 242. Motor 242 comprisesa pneumatic cylinder which includes an internal piston. A piston rod 244is in operative connection with the piston and is selectively movableoutside the cylinder responsive to the delivery and removal of airpressure from opposed sides of the piston within the cylinder. Thepiston rod includes an end link 246. The end link 246 is in operativerotatable connection with a crankshaft 248. The crankshaft 248 is inoperative connection with the shaft 232.

In exemplary arrangements the actuator 226 includes adjustable airpressure regulator 250. The air pressure regulator enables the settingof the level of air pressure that is utilized for purposes of actuatingthe pneumatic motor/cylinder 242. The exemplary actuator furtherincludes a solenoid valve 252. The exemplary solenoid valve isselectively operative responsive to electrical signals to cause airpressure to be selectively delivered to and released from each of thesides of the piston within the cylinder 242. Of course it should beunderstood that the regulator 250, the solenoid valve 252 and the endsof the cylinder 242 are fluidly connected through hoses or othersuitable fluid conduits which are not shown.

The exemplary actuator 226 further includes an electrical enclosure 254mounted thereon. The electrical enclosure includes circuitry associatedwith control of the actuator. The electrical enclosure 254 in someexemplary arrangements may house one or more controllers such ascontroller 128 previously discussed, or other types of circuitryassociated with the actuator.

The exemplary actuator 226 further includes at least one shaft positionsensor 256. In the exemplary arrangement the at least one shaft positionsensor 256 is in operative connection with shaft 232 through an axiallink 258. In this exemplary arrangement the axial link 258 rotates withthe rotation of the shaft 232 which changes a voltage level output fromthe potentiometer 256 which varies with the rotational position of theshaft and the connected drive lever 228. As a result in this exemplaryarrangement the signal corresponding to the voltage output from thepotentiometer 256 can be correlated through operation of at least onecontroller with the rotational position of the drive lever.

The signals from the potentiometer may be utilized in a manner like thatpreviously discussed to determine current closing speed and currentopening speed of the doors. Further in this exemplary arrangement theupper and lower cams and associated cam switches may be operative tosense the rotational position of the drive lever in the door openpositions and door closed positions respectively. Further in exemplaryarrangements the associated sensors which include the cams may beoperative to provide signals which can be utilized for calibrationpurposes with regard to signals that are generated by the shaft positionsensor 256. For example, in the event that the signals from apotentiometer that is used as the shaft position sensor may change overtime with wear or other factors, the at least one controller may operateto recalibrate its stored values to adjust for such changes in outputvalues based on the set points where the cam switches determine that thedoors are in the open and closed positions. Of course it should beunderstood that this approach is exemplary and in other arrangementsother types of sensors and devices may be utilized for purposes ofdetermining the position of the drive lever and the associated doors.

Thus the exemplary arrangements that have been described herein achieveimproved operation, eliminate difficulties encountered in the use ofprior devices and systems, and attain useful results described herein.

In the foregoing description, certain terms have been used for brevity,clarity and understanding. However no unnecessary limitations are to beimplied therefrom because such terms are used for descriptive purposesand are intended to be broadly construed. Moreover the descriptions andillustrations herein are by way of examples, and the new and usefulfeatures and relationships are not limited to the exact features shownand described.

It should be understood that features and/or relationships associatedwith one arrangement can be combined with features and/or relationshipsfrom another arrangement. That is, various features and/or relationshipsfrom various arrangements can be combined to produce furtherarrangements. The new and useful scope of the disclosure is not limitedonly to the specific arrangements shown or described herein.

Having described features, discoveries and principles of the exemplaryarrangements, the manner in which they are constructed and operated, andthe advantages and useful results attained, the new and useful features,devices, elements, arrangements, parts, combinations, systems,equipment, operations, methods, processes and relationships are setforth in the appended claims.

We claim:
 1. Apparatus comprising: a door actuator, wherein the dooractuator is configured to move a pair of substantially planar doors,wherein each door is rotatable about a respective vertical door axis,wherein the vertical door axis of one door of the pair is horizontallydisposed from the vertical door axis of the other door of the pair,wherein each door is rotatably movable about its respective verticaldoor axis between a door open position and a door closed position,wherein with each door in the door open position, each door ishorizontally disposed from the other door of the pair, each door of thepair extends substantially parallel to the other door, such that thedoors bound an open path between the doors through which individuals maypass, wherein with each door of the pair in the door closed position,each door is substantially linearly aligned with the other door, eachdoor is in contacting relation with the other door on a side of eachdoor horizontally opposite of the respective vertical door axis, suchthat there is no path between the doors through which individuals maypass, wherein the actuator includes a body, a drive lever, wherein thedrive lever is rotatably mounted in operative connection with the body,wherein the drive lever is configured to be in operative connection witheach of the doors of the pair such that rotation of the drive lever isoperative to cause each of the doors to move simultaneously incoordinated relation between the respective door open position and therespective door closed position, a motor, wherein the motor is inoperative supported connection with the body, wherein the motor is inoperative connection with the drive lever, at least one sensor, whereinthe at least one sensor is in operative connection with the drive lever,a controller, wherein the controller includes circuitry, wherein thecircuitry includes at least one data store, wherein the at least onedata store includes data corresponding to a threshold closing speed,wherein the controller is in operative connection with the motor and theat least one sensor, wherein the controller is operative to cause themotor to move the drive lever from a first rotational positioncorresponding to the door open position of each of the doors of thepair, in a first rotational direction toward a second rotationalposition corresponding to the door closed position of each of the doorsof the pair, wherein the controller is operative at least in part to theat least one sensor to determine that a current closing speed ofmovement of the drive lever in the first rotational direction betweenthe first and second rotational positions, is at least one of at orbelow the threshold closing speed, wherein the controller is operativeresponsive at least in part to the determination to cause the motor tocease movement of the drive lever in the first rotational direction,whereby engagement of at least one door with an obstruction when movingtowards the respective door closed position causes the current closingspeed to be at least one of at or below the threshold closing speed,such that door closing movement by the actuator is discontinued.
 2. Theapparatus according to claim wherein the controller is operativeresponsive at least in part to the determination to cause the motor tomove the drive lever in a second rotational direction opposed of thefirst rotational direction.
 3. The apparatus according to claim 2wherein responsive at least in part to the drive lever being sensedthrough operation of the at least one sensor as in the first rotationalposition, the controller is operative to cause the motor to stopmovement of the drive lever in the second rotational direction.
 4. Theapparatus according to claim 3 wherein the at least one data storeincludes data corresponding to a threshold opening speed, wherein thecontroller is operative to cause the motor to move the drive lever fromthe second rotational position in the second rotational direction towardthe first rotational position, wherein the controller is operativeresponsive at least in part to the at least one sensor to furtherdetermine that the current opening speed of the drive lever in thesecond rotational direction between the second rotational position andfirst rotational position, is at least one of at or below the thresholdopening speed, wherein the controller is operative responsive at leastin part to the further determination to cause the motor to cease movingthe drive lever in the second rotational direction, whereby engagementof at feast one door with an obstruction in moving between therespective door closed position toward the respective door open positionis operative to cause the doors to discontinue movement toward the dooropen positions.
 5. The apparatus according to claim 4 wherein the atleast one sensor comprises at least one of a potentiometer, an opticalencoder, a cam, a Hall Effect sensor, an inductance sensor, and amagnetic sensor.
 6. The apparatus according to claim 5 wherein thecontroller is operative to calculate at least one of the current closingspeed and the current opening speed as a function of drive lever speedin each of a plurality of different angular positions.
 7. The apparatusaccording to claim 5 wherein the controller is operative to calculate atleast one of the current closing speed and the current opening speed asan average of drive lever speed in each of a plurality of differentangular positions.
 8. The apparatus according to claim 5 wherein themotor comprises at least one of an electric motor and a pneumaticcylinder.
 9. The apparatus according to claim 8 wherein the actuatorfurther includes a manually movable lever, wherein the manually movablelever is movably mounted in operatively supported connection with thebody, wherein the manually movable lever is in operative connection withat least one of the motor and the drive lever, wherein manual movementof the manually movable lever to an engagement position is operative tocause the motor and the drive lever to be in operative engagement,wherein manual movement of the manually movable lever to a disengagementposition is operative to cause the motor and the drive lever to beoperatively disengaged, whereby when the manually movable lever is inthe disengagement position, the drive lever and each of the doors inengagement therewith are manually movable between the door openpositions and the door closed positions without the actuator preventingsuch movement.
 10. The apparatus according to claim 9 wherein theactuator further comprises a slide, wherein the slide is movably mountedin operatively supported connection with the body, wherein the motor isoperatively engaged with the slide, wherein the manually movable leveris in operative engagement with the slide such that when the manuallymovable lever is in the engagement position the slide is in a firstslide position relative to the body, and when the manually movable leveris in the disengagement position the slide is in a second slide positionrelative to the body, wherein the first slide position is disposed fromthe second slide position.
 11. The apparatus according to claim 9 andfurther comprising an audible annunciator, wherein the audibleannunciator is in operative connection with the controller, wherein thecontroller is operative to cause the audible annunciator to output anaudible signal responsive at least in part to at least one of thedetermination that the current closing speed is at least one of lessthan or equal to the threshold closing speed, and the furtherdetermination that the current opening speed is at least one of lessthan or equal to the threshold opening speed.
 12. The apparatusaccording to claim 11 and further comprising a wireless portal, whereinthe wireless portal is in operative connection with the controller,wherein the controller is operative responsive at least in part towireless communication with a user mobile device through the wirelessportal to cause at least one of the motor to cause the drive lever tomove from the first rotational position to the second rotationalposition, whereby the doors are each in the respective open position,and the motor to cause the drive lever to move from the secondrotational position to the first rotational position, whereby the doorsare each in the respective closed position.
 13. The apparatus accordingto claim 12 and further comprising at least one camera interface,wherein the at least one camera interface is in operative connectionwith the controller, wherein the at least one camera interface isconnectable to at least one entry area camera with a field of view of anentry area adjacent to the doors, wherein the controller is operative tocommunicate through the wireless portal with the user mobile device,signals corresponding to images of the field of view of the entry areasuch that the images may be output through the user mobile device. 14.The apparatus according to claim 13 wherein the at least one camerainterface is connectable with at least one interior area camera, whereinthe at least one interior area camera has a field of view of an interiorarea of a vehicle to which access is controlled through operation of thedoors, wherein the controller is operative to communicate through thewireless portal with the user mobile device, signals corresponding toimages of the field of view of the interior area camera such that theimages may be output through the user mobile device.
 15. The apparatusaccording to claim 14 wherein the at least one camera interface isconnectable with at least one external area camera having a field ofview of an external area adjacent to the vehicle, wherein the controlleris operative to communicate through the wireless portal with the usermobile device, signals corresponding to images of the field of view ofthe external area such that the images may be output through the usermobile device.
 16. The apparatus according to claim 15 and furthercomprising a motion sensor, wherein the motion sensor is in operativeconnection with the controller, wherein the motion sensor is operativeto detect motion of the vehicle, wherein the controller is operative toprevent movement of the drive lever responsive at least in part tomotion sensor detected motion of the vehicle.
 17. The apparatusaccording to claim 16 and further comprising a contamination sensor,wherein the contamination sensor comprises at least one of a carbonmonoxide sensor, a carbon dioxide sensor, and a smoke sensor, whereinthe contamination sensor is in operative connection with the controller,wherein the at least one data store includes data corresponding to acontamination threshold, wherein the controller is operative responsiveat least in part to contamination sensed by the contamination sensor tomake a contamination determination that contamination has reached thecontamination threshold, wherein the controller is operative responsiveat least in part to the contamination determination to communicatewireless messages through the wireless portal with the user mobiledevice indicative of the sensed contamination.
 18. The apparatusaccording to claim 17 wherein the controller is operative to cause themotor to move the drive lever to the second rotational positionresponsive at least in part to the contamination determination, wherebyeach of the doors is in the respective door open position.
 19. Theapparatus according to claim 17 wherein at least one camera among the atleast one entry area camera, the at least one interior area camera, andthe at least one external area camera comprises at least one of a nightvision camera, and a heat detecting camera.
 20. The apparatus accordingto claim 17 wherein the at least one data store includes datacorresponding to at least one user access credential, wherein the atleast one user access credential corresponds to at least one of anauthorized user and an authorized user mobile device, wherein thecontroller is operative to receive through the wireless portal, wirelessmessages including identifying data from the user mobile device, whereinthe controller is operative to make an authorized access determinationresponsive at least in part to the identifying data having apredetermined relationship with the at least one user access credential,wherein responsive at least in part to the authorized accessdetermination the controller is operative to cause the motor to move thedrive lever responsive to communication with the user mobile device. 21.The apparatus according to claim 20 and further comprising a manuallyactuatable switch, wherein the manually actuatable switch is locatedwithin the interior area of the vehicle, wherein the manually actuatableswitch is in operative connection with the controller, wherein manualactuation of the manually actuatable switch is operative to cause thecontroller to cause the motor to move the drive lever between the firstrotational position and the second rotational position.
 22. Theapparatus according to claim 21 and further comprising the vehicle,wherein the vehicle comprises a bus.
 23. The apparatus according toclaim 1 wherein responsive at least in part to the drive lever beingsensed through operation of the at least one sensor as in the secondrotational position, the controller is operative to cause the motor tostop movement of the drive lever in the first rotational direction. 24.The apparatus according to claim 1 wherein the motor comprises apneumatic cylinder.
 25. The apparatus according to claim 1 wherein theactuator further includes a manually movable lever, wherein the manuallymovable lever is movably mounted in operatively supported connectionwith the body, wherein the manually movable lever is in operativeconnection with at least one of the motor and the drive lever, whereinmanual movement of the manually movable lever to an engagement positionis operative to cause the motor and the drive lever to be in operativeengagement, and wherein manual movement of the manually movable lever toa disengagement position is operative to cause the motor and the drivelever to be operatively disengaged, whereby when the manually movablelever is in the disengagement position, the drive lever and each of thedoors in engagement, therewith are each manually movable between therespective door open position and the respective door closed positionwithout the actuator preventing such manual movement.
 26. The apparatusaccording to claim 1 and further comprising at least one of an audibleannunciator and a visual indicator, wherein the at least one audibleannunciator and visual indicator is in operative connection with thecontroller, wherein the controller is operative to cause the at leastone of the audible annunciator and visual indicator to output a signalresponsive at least in part to the determination that the currentclosing speed is at least one of less than or equal to the thresholdclosing speed.
 27. The apparatus according to claim 1 and furthercomprising a wireless portal, wherein the wireless portal is inoperative connection with the controller, wherein the controller isoperative responsive at least in part to wireless communication with auser mobile device through the wireless portal to cause at least one ofthe motor to cause the drive lever to move from the first rotationalposition to the second rotational position, whereby each of the doors isin the respective door open position, and the motor to cause the drivelever to move from the second rotational position to the firstrotational position, whereby each of the doors is in the respective doorclosed position.
 28. The apparatus according to claim 1 and furthercomprising: a wireless portal, wherein the wireless portal is inoperative connection with the controller, at least one camera interface,wherein the at least one camera interface is in operative connectionwith the controller, wherein the at least one camera interface isoperatively connectable to at least one camera having a field of viewthat includes at least one of an entry area adjacent to the doors, aninterior area of a vehicle to which access is controlled by the doors,and an external area adjacent to the vehicle, wherein the controller isoperative to communicate through the wireless portal with a user mobiledevice, signals corresponding to images of the field of view such thatthe images may be output through the user mobile device.
 29. Theapparatus according to claim 1 and further comprising a motion sensor,wherein the motion sensor is in operative connection with thecontroller, wherein the controller is operative responsive at least inpart to the motion sensor to cause the controller to prevent movement ofthe drive lever when motion is detected by the motion sensor.
 30. Theapparatus according to claim 1 and further comprising a contaminationsensor, wherein the contamination sensor comprises at least one of acarbon monoxide sensor, a carbon dioxide sensor, and a smoke sensorwherein the contamination sensor is in operative connection with thecontroller, wherein the at least one data store includes datacorresponding to a contamination threshold, wherein the controller isoperative responsive at least in part to contamination sensed by thecontamination sensor to make a contamination determination thatcontamination has reached the contamination threshold, wherein thecontroller is operative responsive at least in part to the contaminationdetermination to cause at least one of an output through at least oneaudible annunciator or visual indicator, at least one wireless messageto be sent responsive to operation of the controller to at least oneuser mobile device, and the motor to cause the drive lever to move tothe second rotational position, whereby the each of the doors is in therespective door open position.
 31. Apparatus comprising: a dooractuator, wherein the door actuator is configured to move a pair ofsubstantially planar doors, wherein each door is rotatable about arespective vertical door axis, wherein the vertical door axis of onedoor of the pair is horizontally disposed from the vertical door axis ofthe other door of the pair, wherein each door is rotatably movable aboutits respective vertical door axis between a respective door openposition and a respective door closed position, wherein with each doorin the door open position, each door is horizontally disposed from theother door of the pair, and each door of the pair extends substantiallyparallel to the other door, such that the doors bound an open pathbetween the doors through which individuals may pass, wherein with eachdoor of the pair in the door closed position, each door is substantiallylineally aligned with the other door, and each door is in contactingrelation with the other door on a respective side of each doorhorizontally opposite of the respective vertical door axis, such thatthere is no path between the doors through which individuals may pass,wherein the actuator includes a body, a drive lever, wherein the drivelever is rotatably mounted in operative connection with the body,wherein the drive lever is configured to be in operative connection witheach of the doors of the pair such that rotation of the drive lever isoperative to cause each of the doors to move simultaneously incoordinated relation between the respective door open position and therespective door closed position, a motor, wherein the motor is inoperative supported connection with the body, wherein the motor is inoperative connection with the drive lever, at least one sensor, whereinthe at least one sensor is in operative connection with the drive lever,a controller, wherein the controller includes circuitry, wherein thecontroller is in operative connection with the motor and the at leastone sensor, wherein the controller is operative to cause the motor tomove the drive lever from a first rotational position corresponding tothe door open position of each of the doors of the pair, in a firstrotational direction toward a second rotational position correspondingto the door closed position of each of the doors of the pair, whereinthe controller is operative responsive at least in part to the at leastone sensor, to calculate at least one current rotational closing speedof the drive lever during movement in the first rotational directionintermediate of the first rotational position and the second rotationalposition, to compare the at least one current rotational closing speedand a threshold closing speed, to determine the at least one currentrotational speed is not in excess of the threshold closing speed,responsive to at least in part to the determination, to cause the motorto cease movement of the drive lever in the first rotational direction,whereby engagement of at least one door with an obstruction when movingtowards the respective door closed position causes door closing movementby the actuator to be discontinued.
 32. The apparatus according to claim31 wherein the controller is operative to calculate the at least onecurrent closing speed as a function of the drive lever speed in each ofa plurality of different angular positions.
 33. The apparatus accordingto claim 31 wherein the actuator further includes a manually movablelever, wherein the manually movable lever is movably mounted inoperatively supported connection with the body, wherein the manuallymovable lever is in operative connection with at least one of the motorand the drive lever, wherein with the manually movable lever in anengagement position, the motor and the drive lever are operativelyengaged such that motor operation causes movement of the drive lever,and wherein with the manually movable lever in a disengagement position,the motor and the drive lever are operatively disconnected, and whereinmanual movement of each door of the pair of doors between the door openposition and the door closed position is not prevented by the drive. 34.The apparatus according to claim 31 wherein the controller is furtheroperative responsive at least in part to the determination to cause thedrive lever to rotate in a second rotational direction opposed of thefirst rotational direction, to compare at least one door opening speedof the drive lever in the second rotational direction and a door openingthreshold speed, to make a further determination that the at least onedoor opening speed is not in excess of the door opening threshold speed,responsive at least in part to the further determination to cause motoroperation to cease moving the drive lever in the second rotationaldirection.